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Galaxea R1 Software Version_V2.0.4_Changelog

Release Notes

Product Name: Galaxea R1

Software Version: SDK V2.0.4

Ubuntu System: 22.04 LTS

ROS Version: ROS 2 Humble

Release Date: May 15, 2025 (GMT +8)

Update Content:

  1. Driver (HDAS) Update Items:

    a) Ported the ROS2 check_node function.

    b) Fixed the base camera startup issue.

    c) Updated the base VCU firmware to prevent sudden stops during mode changes.

  2. Teleoperation Update Items:

    a) Corrected the left/right wrist camera topic names to realsense_camera for consistency with ROS2 documentation.

  3. Tool Module Update Items:

    a) Optimized the bag storage format in the data_collection file to MCAP, requiring the ros-humble-rosbag2-storage-mcap package.

  4. Other Update Items: a) Updated the flashing method for the ROS2 system image with SDK basic dependencies.

Update Instruction

  1. During the upgrade process, do not interrupt the system operation or perform any control actions, as this may cause the upgrade to fail and affect normal system operation.
  2. After the upgrade is complete, power off the R1 system and then power it back on to ensure the update is fully applied.

Please follow the tutorial below to complete this system update. If you encounter any issues, contact us at support@galaxea.ai for technical support!

Update Tutorial

Download the Update Package

atc_standard-V2.0.4.tar.gz

atc_navigation_V2.0.4.tar.gz

Extract the Package

tar -xf ${your_download_path}/atc_standard-V2.0.4.tar.gz -C ~/

Start CAN Driver

# Terminal 1
sudo ip link set can0 down
sudo ip link set can0 type can bitrate 1000000 dbitrate 5000000 fd on       
sudo ip link set can0 up

Update Embedded Firmware

# Terminal 2
cd ~/ && source install/setup.bash
cd ~/install/Embedded_Software_Firmware/share/tools
cd R1
./r1_embedded_firmware_upgrade.sh ls ../../firmware/R1

Wait a moment until "GET OTA finished!!" appears.

sdk_ros2_xcu

After completing the update, power off the robot and then power it back on.

Execute the Module

  1. In the file atc_standard-V2.0.4.tar.gz, Start R1 BODY: 

    cd install/startup_config/share/startup_config/script/

./robot_startup.sh boot ../sessions.d/ATCStandard/R1Body.d/

  2. In the file atc_standard-V2.0.4.tar.gz, Start R1 VRTELEOP:

    First, add the following env at the end of the ~/.bashrc file to connect the robot and VR. 

    ROS_IP=The wireless network IP of robot
VR_IP=The IP of the VR glasses connected to the same WiFi.

    Then start VR teleopertaion: 

    cd install/startup_config/share/startup_config/script/
./robot_startup.sh boot ../sessions.d/ATCStandard/R1VRTeleop.d/

  3. In the file atc_navigation-V2.0.4.tar.gz, start R1 NAVIGATION:

    cd install/startup_config/share/startup_config/script/
./robot_startup.sh boot ../sessions.d/ATCNavigation/R1VRTeleopNAV.d/

Terminate ALL

Execute the following conmand to terminate all processes initiated by the above operations.

tmux kill-server